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<a href="rtdm_8c.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*****************************************************************************</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *  $Id: rtdm.c,v 6d9865c37b6f 2013/02/12 16:15:09 fp $</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (C) 2009-2010  Moehwald GmbH B. Benner</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *                     2011  IgH Andreas Stewering-Bone</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *                     2012  Florian Pose &lt;fp@igh-essen.com&gt;</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  This file is part of the IgH EtherCAT master.</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  The IgH EtherCAT master is free software; you can redistribute it and/or</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  modify it under the terms of the GNU General Public License as published</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *  by the Free Software Foundation; version 2 of the License.</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *  The IgH EtherCAT master is distributed in the hope that it will be useful,</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *  but WITHOUT ANY WARRANTY; without even the implied warranty of</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *  Public License for more details.</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *  You should have received a copy of the GNU General Public License along</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *  with the IgH EtherCAT master. If not, see &lt;http://www.gnu.org/licenses/&gt;.</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  The license mentioned above concerns the source code only. Using the</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  EtherCAT technology and brand is only permitted in compliance with the</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  industrial property and similar rights of Beckhoff Automation GmbH.</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> ****************************************************************************/</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="preprocessor">#include &lt;linux/module.h&gt;</span></div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="preprocessor">#include &lt;linux/slab.h&gt;</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="preprocessor">#include &lt;linux/mman.h&gt;</span></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#include &lt;rtdm/rtdm_driver.h&gt;</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="master_8h.html">master.h</a>&quot;</span></div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="ioctl_8h.html">ioctl.h</a>&quot;</span></div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="rtdm_8h.html">rtdm.h</a>&quot;</span></div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;</div><div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="rtdm_8c.html#ad72dbcf6d0153db1b8d8a58001feed83">   45</a></span>&#160;<span class="preprocessor">#define DEBUG 0</span></div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="comment">/****************************************************************************/</span></div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;</div><div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="structec__rtdm__context__t.html">   51</a></span>&#160;<span class="keyword">typedef</span> <span class="keyword">struct </span>{</div><div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="structec__rtdm__context__t.html#a062a354a243cbc0dddbfd9f440a68135">   52</a></span>&#160;    rtdm_user_info_t *<a class="code" href="structec__rtdm__context__t.html#a062a354a243cbc0dddbfd9f440a68135">user_info</a>; </div><div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="structec__rtdm__context__t.html#ad605852d8673c7094398ea5307d3737b">   53</a></span>&#160;    ec_ioctl_context_t <a class="code" href="structec__rtdm__context__t.html#ad605852d8673c7094398ea5307d3737b">ioctl_ctx</a>; </div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;} <a class="code" href="structec__rtdm__context__t.html">ec_rtdm_context_t</a>;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="comment">/****************************************************************************/</span></div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;<span class="keywordtype">int</span> <a class="code" href="rtdm_8c.html#a047388d922da118a81feaec0989a3c71">ec_rtdm_open</a>(<span class="keyword">struct</span> rtdm_dev_context *, rtdm_user_info_t *, <span class="keywordtype">int</span>);</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="keywordtype">int</span> <a class="code" href="rtdm_8c.html#a0ff426002578c3ae9c5687e4fd8fd238">ec_rtdm_close</a>(<span class="keyword">struct</span> rtdm_dev_context *, rtdm_user_info_t *);</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;<span class="keywordtype">int</span> <a class="code" href="rtdm_8c.html#ad41c0eed8f1d1199f8294532e8d88022">ec_rtdm_ioctl</a>(<span class="keyword">struct</span> rtdm_dev_context *, rtdm_user_info_t *,</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>, <span class="keywordtype">void</span> __user *);</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;<span class="comment">/****************************************************************************/</span></div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;</div><div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="rtdm_8h.html#aac0c8c41af4536a9954b0958af35726f">   69</a></span>&#160;<span class="keywordtype">int</span> <a class="code" href="rtdm_8c.html#a4df98f505b4a74bb76aeb2df2bfe1fda">ec_rtdm_dev_init</a>(</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        <a class="code" href="structec__rtdm__dev.html">ec_rtdm_dev_t</a> *rtdm_dev, </div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;        <a class="code" href="structec__master.html">ec_master_t</a> *master </div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;        )</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;{</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="keywordtype">int</span> ret;</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    rtdm_dev-&gt;<a class="code" href="structec__rtdm__dev.html#a26ad048dd4e31a5e34cfcecea2878a86">master</a> = master;</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    rtdm_dev-&gt;<a class="code" href="structec__rtdm__dev.html#a35af4277898eb3c7207df514c0a51653">dev</a> = kzalloc(<span class="keyword">sizeof</span>(<span class="keyword">struct</span> rtdm_device), GFP_KERNEL);</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    <span class="keywordflow">if</span> (!rtdm_dev-&gt;<a class="code" href="structec__rtdm__dev.html#a35af4277898eb3c7207df514c0a51653">dev</a>) {</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        <a class="code" href="master_8h.html#aece1fb7ea6af168ba7513c9d7b0a523a">EC_MASTER_ERR</a>(master, <span class="stringliteral">&quot;Failed to reserve memory for RTDM device.\n&quot;</span>);</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        <span class="keywordflow">return</span> -ENOMEM;</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    }</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    rtdm_dev-&gt;<a class="code" href="structec__rtdm__dev.html#a35af4277898eb3c7207df514c0a51653">dev</a>-&gt;struct_version = RTDM_DEVICE_STRUCT_VER;</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    rtdm_dev-&gt;<a class="code" href="structec__rtdm__dev.html#a35af4277898eb3c7207df514c0a51653">dev</a>-&gt;device_flags = RTDM_NAMED_DEVICE;</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    rtdm_dev-&gt;<a class="code" href="structec__rtdm__dev.html#a35af4277898eb3c7207df514c0a51653">dev</a>-&gt;context_size = <span class="keyword">sizeof</span>(<a class="code" href="structec__rtdm__context__t.html">ec_rtdm_context_t</a>);</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    snprintf(rtdm_dev-&gt;<a class="code" href="structec__rtdm__dev.html#a35af4277898eb3c7207df514c0a51653">dev</a>-&gt;device_name, RTDM_MAX_DEVNAME_LEN,</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;            <span class="stringliteral">&quot;EtherCAT%u&quot;</span>, master-&gt;<a class="code" href="structec__master.html#a78fe13519ced082c9a212711bec49ed3">index</a>);</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    rtdm_dev-&gt;<a class="code" href="structec__rtdm__dev.html#a35af4277898eb3c7207df514c0a51653">dev</a>-&gt;open_nrt = <a class="code" href="rtdm_8c.html#a047388d922da118a81feaec0989a3c71">ec_rtdm_open</a>;</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    rtdm_dev-&gt;<a class="code" href="structec__rtdm__dev.html#a35af4277898eb3c7207df514c0a51653">dev</a>-&gt;ops.close_nrt = <a class="code" href="rtdm_8c.html#a0ff426002578c3ae9c5687e4fd8fd238">ec_rtdm_close</a>;</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    rtdm_dev-&gt;<a class="code" href="structec__rtdm__dev.html#a35af4277898eb3c7207df514c0a51653">dev</a>-&gt;ops.ioctl_rt = <a class="code" href="rtdm_8c.html#ad41c0eed8f1d1199f8294532e8d88022">ec_rtdm_ioctl</a>;</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    rtdm_dev-&gt;<a class="code" href="structec__rtdm__dev.html#a35af4277898eb3c7207df514c0a51653">dev</a>-&gt;ops.ioctl_nrt = <a class="code" href="rtdm_8c.html#ad41c0eed8f1d1199f8294532e8d88022">ec_rtdm_ioctl</a>;</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    rtdm_dev-&gt;<a class="code" href="structec__rtdm__dev.html#a35af4277898eb3c7207df514c0a51653">dev</a>-&gt;device_class = RTDM_CLASS_EXPERIMENTAL;</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    rtdm_dev-&gt;<a class="code" href="structec__rtdm__dev.html#a35af4277898eb3c7207df514c0a51653">dev</a>-&gt;device_sub_class = 222;</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    rtdm_dev-&gt;<a class="code" href="structec__rtdm__dev.html#a35af4277898eb3c7207df514c0a51653">dev</a>-&gt;driver_name = <span class="stringliteral">&quot;EtherCAT&quot;</span>;</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    rtdm_dev-&gt;<a class="code" href="structec__rtdm__dev.html#a35af4277898eb3c7207df514c0a51653">dev</a>-&gt;driver_version = RTDM_DRIVER_VER(1, 0, 2);</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    rtdm_dev-&gt;<a class="code" href="structec__rtdm__dev.html#a35af4277898eb3c7207df514c0a51653">dev</a>-&gt;peripheral_name = rtdm_dev-&gt;<a class="code" href="structec__rtdm__dev.html#a35af4277898eb3c7207df514c0a51653">dev</a>-&gt;device_name;</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    rtdm_dev-&gt;<a class="code" href="structec__rtdm__dev.html#a35af4277898eb3c7207df514c0a51653">dev</a>-&gt;provider_name = <span class="stringliteral">&quot;EtherLab Community&quot;</span>;</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    rtdm_dev-&gt;<a class="code" href="structec__rtdm__dev.html#a35af4277898eb3c7207df514c0a51653">dev</a>-&gt;proc_name = rtdm_dev-&gt;<a class="code" href="structec__rtdm__dev.html#a35af4277898eb3c7207df514c0a51653">dev</a>-&gt;device_name;</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    rtdm_dev-&gt;<a class="code" href="structec__rtdm__dev.html#a35af4277898eb3c7207df514c0a51653">dev</a>-&gt;device_data = rtdm_dev; <span class="comment">/* pointer to parent */</span></div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    <a class="code" href="master_8h.html#a306a2bcfad973302ae507c9c6978b816">EC_MASTER_INFO</a>(master, <span class="stringliteral">&quot;Registering RTDM device %s.\n&quot;</span>,</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;            rtdm_dev-&gt;<a class="code" href="structec__rtdm__dev.html#a35af4277898eb3c7207df514c0a51653">dev</a>-&gt;driver_name);</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    ret = rtdm_dev_register(rtdm_dev-&gt;<a class="code" href="structec__rtdm__dev.html#a35af4277898eb3c7207df514c0a51653">dev</a>);</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    <span class="keywordflow">if</span> (ret) {</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        <a class="code" href="master_8h.html#aece1fb7ea6af168ba7513c9d7b0a523a">EC_MASTER_ERR</a>(master, <span class="stringliteral">&quot;Initialization of RTDM interface failed&quot;</span></div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;                <span class="stringliteral">&quot; (return value %i).\n&quot;</span>, ret);</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        kfree(rtdm_dev-&gt;<a class="code" href="structec__rtdm__dev.html#a35af4277898eb3c7207df514c0a51653">dev</a>);</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    }</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    <span class="keywordflow">return</span> ret;</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;}</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;<span class="comment">/****************************************************************************/</span></div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;</div><div class="line"><a name="l00118"></a><span class="lineno"><a class="line" href="rtdm_8h.html#a597c8141cb50546873826975c1bc64d5">  118</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="rtdm_8c.html#a4d1eee172b955c21345fae5a0aaf0d21">ec_rtdm_dev_clear</a>(</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        <a class="code" href="structec__rtdm__dev.html">ec_rtdm_dev_t</a> *rtdm_dev </div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        )</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;{</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    <span class="keywordtype">int</span> ret;</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    <a class="code" href="master_8h.html#a306a2bcfad973302ae507c9c6978b816">EC_MASTER_INFO</a>(rtdm_dev-&gt;<a class="code" href="structec__rtdm__dev.html#a26ad048dd4e31a5e34cfcecea2878a86">master</a>, <span class="stringliteral">&quot;Unregistering RTDM device %s.\n&quot;</span>,</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;            rtdm_dev-&gt;<a class="code" href="structec__rtdm__dev.html#a35af4277898eb3c7207df514c0a51653">dev</a>-&gt;driver_name);</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    ret = rtdm_dev_unregister(rtdm_dev-&gt;<a class="code" href="structec__rtdm__dev.html#a35af4277898eb3c7207df514c0a51653">dev</a>, 1000 <span class="comment">/* poll delay [ms] */</span>);</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    <span class="keywordflow">if</span> (ret &lt; 0) {</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        <a class="code" href="master_8h.html#af75617c47fe87f4f60e8593d7e79dbc0">EC_MASTER_WARN</a>(rtdm_dev-&gt;<a class="code" href="structec__rtdm__dev.html#a26ad048dd4e31a5e34cfcecea2878a86">master</a>,</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;                <span class="stringliteral">&quot;Failed to unregister RTDM device (code %i).\n&quot;</span>, ret);</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    }</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    kfree(rtdm_dev-&gt;<a class="code" href="structec__rtdm__dev.html#a35af4277898eb3c7207df514c0a51653">dev</a>);</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;}</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;<span class="comment">/****************************************************************************/</span></div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;</div><div class="line"><a name="l00141"></a><span class="lineno"><a class="line" href="rtdm_8c.html#a047388d922da118a81feaec0989a3c71">  141</a></span>&#160;<span class="keywordtype">int</span> <a class="code" href="rtdm_8c.html#a047388d922da118a81feaec0989a3c71">ec_rtdm_open</a>(</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;        <span class="keyword">struct</span> rtdm_dev_context *context, </div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;        rtdm_user_info_t *user_info, </div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;        <span class="keywordtype">int</span> oflags </div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        )</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;{</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    <a class="code" href="structec__rtdm__context__t.html">ec_rtdm_context_t</a> *ctx = (<a class="code" href="structec__rtdm__context__t.html">ec_rtdm_context_t</a> *) context-&gt;dev_private;</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;#<span class="keywordflow">if</span> <a class="code" href="rtdm_8c.html#ad72dbcf6d0153db1b8d8a58001feed83">DEBUG</a></div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    <a class="code" href="structec__rtdm__dev.html">ec_rtdm_dev_t</a> *rtdm_dev = (<a class="code" href="structec__rtdm__dev.html">ec_rtdm_dev_t</a> *) context-&gt;device-&gt;device_data;</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;</div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    ctx-&gt;<a class="code" href="structec__rtdm__context__t.html#a062a354a243cbc0dddbfd9f440a68135">user_info</a> = user_info;</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    ctx-&gt;<a class="code" href="structec__rtdm__context__t.html#ad605852d8673c7094398ea5307d3737b">ioctl_ctx</a>.writable = oflags &amp; O_WRONLY || oflags &amp; O_RDWR;</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    ctx-&gt;<a class="code" href="structec__rtdm__context__t.html#ad605852d8673c7094398ea5307d3737b">ioctl_ctx</a>.requested = 0;</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    ctx-&gt;<a class="code" href="structec__rtdm__context__t.html#ad605852d8673c7094398ea5307d3737b">ioctl_ctx</a>.process_data = NULL;</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    ctx-&gt;<a class="code" href="structec__rtdm__context__t.html#ad605852d8673c7094398ea5307d3737b">ioctl_ctx</a>.process_data_size = 0;</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;<span class="preprocessor">#if DEBUG</span></div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    <a class="code" href="master_8h.html#a306a2bcfad973302ae507c9c6978b816">EC_MASTER_INFO</a>(rtdm_dev-&gt;master, <span class="stringliteral">&quot;RTDM device %s opened.\n&quot;</span>,</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;            context-&gt;device-&gt;device_name);</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;}</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;<span class="comment">/****************************************************************************/</span></div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;</div><div class="line"><a name="l00171"></a><span class="lineno"><a class="line" href="rtdm_8c.html#a0ff426002578c3ae9c5687e4fd8fd238">  171</a></span>&#160;<span class="keywordtype">int</span> <a class="code" href="rtdm_8c.html#a0ff426002578c3ae9c5687e4fd8fd238">ec_rtdm_close</a>(</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;        <span class="keyword">struct</span> rtdm_dev_context *context, </div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;        rtdm_user_info_t *user_info </div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;        )</div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;{</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    <a class="code" href="structec__rtdm__context__t.html">ec_rtdm_context_t</a> *ctx = (<a class="code" href="structec__rtdm__context__t.html">ec_rtdm_context_t</a> *) context-&gt;dev_private;</div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    <a class="code" href="structec__rtdm__dev.html">ec_rtdm_dev_t</a> *rtdm_dev = (<a class="code" href="structec__rtdm__dev.html">ec_rtdm_dev_t</a> *) context-&gt;device-&gt;device_data;</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    <span class="keywordflow">if</span> (ctx-&gt;<a class="code" href="structec__rtdm__context__t.html#ad605852d8673c7094398ea5307d3737b">ioctl_ctx</a>.requested) {</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;        <a class="code" href="group__ApplicationInterface.html#ga64219721098ec5069eab27f1923de9ea">ecrt_release_master</a>(rtdm_dev-&gt;master);</div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;    }</div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;</div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;<span class="preprocessor">#if DEBUG</span></div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    <a class="code" href="master_8h.html#a306a2bcfad973302ae507c9c6978b816">EC_MASTER_INFO</a>(rtdm_dev-&gt;master, <span class="stringliteral">&quot;RTDM device %s closed.\n&quot;</span>,</div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;            context-&gt;device-&gt;device_name);</div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;}</div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;<span class="comment">/****************************************************************************/</span></div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;</div><div class="line"><a name="l00196"></a><span class="lineno"><a class="line" href="rtdm_8c.html#ad41c0eed8f1d1199f8294532e8d88022">  196</a></span>&#160;<span class="keywordtype">int</span> <a class="code" href="rtdm_8c.html#ad41c0eed8f1d1199f8294532e8d88022">ec_rtdm_ioctl</a>(</div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;        <span class="keyword">struct</span> rtdm_dev_context *context, </div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;        rtdm_user_info_t *user_info, </div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> request, </div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;        <span class="keywordtype">void</span> __user *arg </div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;        )</div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;{</div><div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;    <a class="code" href="structec__rtdm__context__t.html">ec_rtdm_context_t</a> *ctx = (<a class="code" href="structec__rtdm__context__t.html">ec_rtdm_context_t</a> *) context-&gt;dev_private;</div><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    <a class="code" href="structec__rtdm__dev.html">ec_rtdm_dev_t</a> *rtdm_dev = (<a class="code" href="structec__rtdm__dev.html">ec_rtdm_dev_t</a> *) context-&gt;device-&gt;device_data;</div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;</div><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;<span class="preprocessor">#if DEBUG</span></div><div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    <a class="code" href="master_8h.html#a306a2bcfad973302ae507c9c6978b816">EC_MASTER_INFO</a>(rtdm_dev-&gt;master, <span class="stringliteral">&quot;ioctl(request = %u, ctl = %02x)&quot;</span></div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;            <span class="stringliteral">&quot; on RTDM device %s.\n&quot;</span>, request, _IOC_NR(request),</div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;            context-&gt;device-&gt;device_name);</div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    <span class="keywordflow">return</span> ec_ioctl_rtdm(rtdm_dev-&gt;master, &amp;ctx-&gt;<a class="code" href="structec__rtdm__context__t.html#ad605852d8673c7094398ea5307d3737b">ioctl_ctx</a>, request, arg);</div><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;}</div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;</div><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;<span class="comment">/****************************************************************************/</span></div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;</div><div class="line"><a name="l00220"></a><span class="lineno"><a class="line" href="rtdm_8c.html#a1aec20337852eaf46576f8f3025202d1">  220</a></span>&#160;<span class="keywordtype">int</span> <a class="code" href="rtdm_8c.html#a1aec20337852eaf46576f8f3025202d1">ec_rtdm_mmap</a>(</div><div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;        ec_ioctl_context_t *ioctl_ctx, </div><div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;        <span class="keywordtype">void</span> **user_address </div><div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;        )</div><div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;{</div><div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    <a class="code" href="structec__rtdm__context__t.html">ec_rtdm_context_t</a> *ctx =</div><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;        container_of(ioctl_ctx, <a class="code" href="structec__rtdm__context__t.html">ec_rtdm_context_t</a>, ioctl_ctx);</div><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;    <span class="keywordtype">int</span> ret;</div><div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;</div><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;    ret = rtdm_mmap_to_user(ctx-&gt;<a class="code" href="structec__rtdm__context__t.html#a062a354a243cbc0dddbfd9f440a68135">user_info</a>,</div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;            ioctl_ctx-&gt;process_data, ioctl_ctx-&gt;process_data_size,</div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;            PROT_READ | PROT_WRITE,</div><div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;            user_address,</div><div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;            NULL, NULL);</div><div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;    <span class="keywordflow">if</span> (ret &lt; 0) {</div><div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;        <span class="keywordflow">return</span> ret;</div><div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;    }</div><div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;</div><div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;    <span class="keywordflow">return</span> 0;</div><div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;}</div><div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;</div><div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;<span class="comment">/****************************************************************************/</span></div><div class="ttc" id="rtdm_8c_html_a4df98f505b4a74bb76aeb2df2bfe1fda"><div class="ttname"><a href="rtdm_8c.html#a4df98f505b4a74bb76aeb2df2bfe1fda">ec_rtdm_dev_init</a></div><div class="ttdeci">int ec_rtdm_dev_init(ec_rtdm_dev_t *rtdm_dev, ec_master_t *master)</div><div class="ttdoc">Initialize an RTDM device. </div><div class="ttdef"><b>Definition:</b> <a href="rtdm_8c_source.html#l00069">rtdm.c:69</a></div></div>
<div class="ttc" id="group__ApplicationInterface_html_ga64219721098ec5069eab27f1923de9ea"><div class="ttname"><a href="group__ApplicationInterface.html#ga64219721098ec5069eab27f1923de9ea">ecrt_release_master</a></div><div class="ttdeci">void ecrt_release_master(ec_master_t *master)</div><div class="ttdoc">Releases a requested EtherCAT master. </div><div class="ttdef"><b>Definition:</b> <a href="module_8c_source.html#l00614">module.c:614</a></div></div>
<div class="ttc" id="structec__rtdm__dev_html_a35af4277898eb3c7207df514c0a51653"><div class="ttname"><a href="structec__rtdm__dev.html#a35af4277898eb3c7207df514c0a51653">ec_rtdm_dev::dev</a></div><div class="ttdeci">struct rtdm_device * dev</div><div class="ttdoc">RTDM device. </div><div class="ttdef"><b>Definition:</b> <a href="rtdm_8h_source.html#l00046">rtdm.h:46</a></div></div>
<div class="ttc" id="structec__rtdm__dev_html_a26ad048dd4e31a5e34cfcecea2878a86"><div class="ttname"><a href="structec__rtdm__dev.html#a26ad048dd4e31a5e34cfcecea2878a86">ec_rtdm_dev::master</a></div><div class="ttdeci">ec_master_t * master</div><div class="ttdoc">Master pointer. </div><div class="ttdef"><b>Definition:</b> <a href="rtdm_8h_source.html#l00045">rtdm.h:45</a></div></div>
<div class="ttc" id="structec__rtdm__dev_html"><div class="ttname"><a href="structec__rtdm__dev.html">ec_rtdm_dev</a></div><div class="ttdoc">EtherCAT RTDM device. </div><div class="ttdef"><b>Definition:</b> <a href="rtdm_8h_source.html#l00044">rtdm.h:44</a></div></div>
<div class="ttc" id="rtdm_8c_html_a0ff426002578c3ae9c5687e4fd8fd238"><div class="ttname"><a href="rtdm_8c.html#a0ff426002578c3ae9c5687e4fd8fd238">ec_rtdm_close</a></div><div class="ttdeci">int ec_rtdm_close(struct rtdm_dev_context *, rtdm_user_info_t *)</div><div class="ttdoc">Driver close. </div><div class="ttdef"><b>Definition:</b> <a href="rtdm_8c_source.html#l00171">rtdm.c:171</a></div></div>
<div class="ttc" id="rtdm_8c_html_ad72dbcf6d0153db1b8d8a58001feed83"><div class="ttname"><a href="rtdm_8c.html#ad72dbcf6d0153db1b8d8a58001feed83">DEBUG</a></div><div class="ttdeci">#define DEBUG</div><div class="ttdoc">Set to 1 to enable device operations debugging. </div><div class="ttdef"><b>Definition:</b> <a href="rtdm_8c_source.html#l00045">rtdm.c:45</a></div></div>
<div class="ttc" id="master_8h_html"><div class="ttname"><a href="master_8h.html">master.h</a></div><div class="ttdoc">EtherCAT master structure. </div></div>
<div class="ttc" id="structec__rtdm__context__t_html_a062a354a243cbc0dddbfd9f440a68135"><div class="ttname"><a href="structec__rtdm__context__t.html#a062a354a243cbc0dddbfd9f440a68135">ec_rtdm_context_t::user_info</a></div><div class="ttdeci">rtdm_user_info_t * user_info</div><div class="ttdoc">RTDM user data. </div><div class="ttdef"><b>Definition:</b> <a href="rtdm_8c_source.html#l00052">rtdm.c:52</a></div></div>
<div class="ttc" id="structec__rtdm__context__t_html_ad605852d8673c7094398ea5307d3737b"><div class="ttname"><a href="structec__rtdm__context__t.html#ad605852d8673c7094398ea5307d3737b">ec_rtdm_context_t::ioctl_ctx</a></div><div class="ttdeci">ec_ioctl_context_t ioctl_ctx</div><div class="ttdoc">Context structure. </div><div class="ttdef"><b>Definition:</b> <a href="rtdm_8c_source.html#l00053">rtdm.c:53</a></div></div>
<div class="ttc" id="rtdm_8c_html_ad41c0eed8f1d1199f8294532e8d88022"><div class="ttname"><a href="rtdm_8c.html#ad41c0eed8f1d1199f8294532e8d88022">ec_rtdm_ioctl</a></div><div class="ttdeci">int ec_rtdm_ioctl(struct rtdm_dev_context *, rtdm_user_info_t *, unsigned int, void __user *)</div><div class="ttdoc">Driver ioctl. </div><div class="ttdef"><b>Definition:</b> <a href="rtdm_8c_source.html#l00196">rtdm.c:196</a></div></div>
<div class="ttc" id="master_8h_html_af75617c47fe87f4f60e8593d7e79dbc0"><div class="ttname"><a href="master_8h.html#af75617c47fe87f4f60e8593d7e79dbc0">EC_MASTER_WARN</a></div><div class="ttdeci">#define EC_MASTER_WARN(master, fmt, args...)</div><div class="ttdoc">Convenience macro for printing master-specific warnings to syslog. </div><div class="ttdef"><b>Definition:</b> <a href="master_8h_source.html#l00097">master.h:97</a></div></div>
<div class="ttc" id="master_8h_html_aece1fb7ea6af168ba7513c9d7b0a523a"><div class="ttname"><a href="master_8h.html#aece1fb7ea6af168ba7513c9d7b0a523a">EC_MASTER_ERR</a></div><div class="ttdeci">#define EC_MASTER_ERR(master, fmt, args...)</div><div class="ttdoc">Convenience macro for printing master-specific errors to syslog. </div><div class="ttdef"><b>Definition:</b> <a href="master_8h_source.html#l00085">master.h:85</a></div></div>
<div class="ttc" id="rtdm_8c_html_a1aec20337852eaf46576f8f3025202d1"><div class="ttname"><a href="rtdm_8c.html#a1aec20337852eaf46576f8f3025202d1">ec_rtdm_mmap</a></div><div class="ttdeci">int ec_rtdm_mmap(ec_ioctl_context_t *ioctl_ctx, void **user_address)</div><div class="ttdoc">Memory-map process data to user space. </div><div class="ttdef"><b>Definition:</b> <a href="rtdm_8c_source.html#l00220">rtdm.c:220</a></div></div>
<div class="ttc" id="rtdm_8c_html_a4d1eee172b955c21345fae5a0aaf0d21"><div class="ttname"><a href="rtdm_8c.html#a4d1eee172b955c21345fae5a0aaf0d21">ec_rtdm_dev_clear</a></div><div class="ttdeci">void ec_rtdm_dev_clear(ec_rtdm_dev_t *rtdm_dev)</div><div class="ttdoc">Clear an RTDM device. </div><div class="ttdef"><b>Definition:</b> <a href="rtdm_8c_source.html#l00118">rtdm.c:118</a></div></div>
<div class="ttc" id="structec__rtdm__context__t_html"><div class="ttname"><a href="structec__rtdm__context__t.html">ec_rtdm_context_t</a></div><div class="ttdoc">Context structure for an open RTDM file handle. </div><div class="ttdef"><b>Definition:</b> <a href="rtdm_8c_source.html#l00051">rtdm.c:51</a></div></div>
<div class="ttc" id="ioctl_8h_html"><div class="ttname"><a href="ioctl_8h.html">ioctl.h</a></div><div class="ttdoc">EtherCAT master character device IOCTL commands. </div></div>
<div class="ttc" id="structec__master_html_a78fe13519ced082c9a212711bec49ed3"><div class="ttname"><a href="structec__master.html#a78fe13519ced082c9a212711bec49ed3">ec_master::index</a></div><div class="ttdeci">unsigned int index</div><div class="ttdoc">Index. </div><div class="ttdef"><b>Definition:</b> <a href="master_8h_source.html#l00195">master.h:195</a></div></div>
<div class="ttc" id="rtdm_8c_html_a047388d922da118a81feaec0989a3c71"><div class="ttname"><a href="rtdm_8c.html#a047388d922da118a81feaec0989a3c71">ec_rtdm_open</a></div><div class="ttdeci">int ec_rtdm_open(struct rtdm_dev_context *, rtdm_user_info_t *, int)</div><div class="ttdoc">Driver open. </div><div class="ttdef"><b>Definition:</b> <a href="rtdm_8c_source.html#l00141">rtdm.c:141</a></div></div>
<div class="ttc" id="master_8h_html_a306a2bcfad973302ae507c9c6978b816"><div class="ttname"><a href="master_8h.html#a306a2bcfad973302ae507c9c6978b816">EC_MASTER_INFO</a></div><div class="ttdeci">#define EC_MASTER_INFO(master, fmt, args...)</div><div class="ttdoc">Convenience macro for printing master-specific information to syslog. </div><div class="ttdef"><b>Definition:</b> <a href="master_8h_source.html#l00073">master.h:73</a></div></div>
<div class="ttc" id="structec__master_html"><div class="ttname"><a href="structec__master.html">ec_master</a></div><div class="ttdoc">EtherCAT master. </div><div class="ttdef"><b>Definition:</b> <a href="master_8h_source.html#l00194">master.h:194</a></div></div>
<div class="ttc" id="rtdm_8h_html"><div class="ttname"><a href="rtdm_8h.html">rtdm.h</a></div><div class="ttdoc">RTDM interface. </div></div>
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